37 #ifndef _PROTOBUF_COMM_MESSAGE_REGISTER_H_
38 #define _PROTOBUF_COMM_MESSAGE_REGISTER_H_
40 #include <google/protobuf/descriptor.h>
41 #include <google/protobuf/message.h>
42 #include <protobuf_comm/frame_header.h>
44 #include <boost/thread/mutex.hpp>
45 #include <boost/utility.hpp>
52 #include <type_traits>
63 namespace protobuf_comm {
82 typename =
typename std::enable_if<std::is_base_of<google::protobuf::Message, MT>::value>::type>
86 KeyType key(component_id, msg_type);
87 if (message_by_comp_type_.find(key) != message_by_comp_type_.end()) {
88 #if defined(__GNUC__) && (__GNUC__ < 4 || (__GNUC__ == 4 && __GNUC_MINOR__ < 6))
89 std::string msg =
"Message type " + std::to_string((
long long)component_id) +
":"
90 + std::to_string((
long long)msg_type) +
" already registered";
92 std::string msg =
"Message type " + std::to_string(component_id) +
":"
93 + std::to_string(msg_type) +
" already registered";
95 throw std::runtime_error(msg);
98 message_by_comp_type_[key] = m;
99 message_by_typename_[m->GetDescriptor()->full_name()] = m;
109 typename std::enable_if<std::is_base_of<google::protobuf::Message, MT>::value,
void>::type>
114 const google::protobuf::Descriptor *desc = m.GetDescriptor();
115 KeyType key = key_from_desc(desc);
116 if (message_by_comp_type_.find(key) != message_by_comp_type_.end()) {
117 #if defined(__GNUC__) && (__GNUC__ < 4 || (__GNUC__ == 4 && __GNUC_MINOR__ < 6))
118 std::string msg =
"Message type " + std::to_string((
long long int)key.first) +
":"
119 + std::to_string((
long long int)key.second) +
" already registered";
121 std::string msg =
"Message type " + std::to_string(key.first) +
":"
122 + std::to_string(key.second) +
" already registered";
124 throw std::runtime_error(msg);
126 MT *new_m =
new MT();
127 message_by_comp_type_[key] = new_m;
128 message_by_typename_[new_m->GetTypeName()] = new_m;
133 std::shared_ptr<google::protobuf::Message>
new_message_for(uint16_t component_id,
136 std::shared_ptr<google::protobuf::Message>
new_message_for(
const std::string &full_name);
140 const google::protobuf::Message &msg,
144 std::shared_ptr<google::protobuf::Message>
158 return failed_to_load_types_;
162 typedef std::pair<uint16_t, uint16_t> KeyType;
163 typedef std::map<KeyType, google::protobuf::Message *> TypeMap;
164 typedef std::map<std::string, google::protobuf::Message *> TypeNameMap;
166 KeyType key_from_desc(
const google::protobuf::Descriptor *desc);
167 google::protobuf::Message *create_msg(
const std::string &msg_type);
169 std::mutex maps_mutex_;
170 TypeMap message_by_comp_type_;
171 TypeNameMap message_by_typename_;
173 google::protobuf::compiler::DiskSourceTree *pb_srctree_;
174 google::protobuf::compiler::Importer * pb_importer_;
175 google::protobuf::MessageFactory * pb_factory_;
176 std::multimap<std::string, std::string> failed_to_load_types_;
Register to map msg type numbers to Protobuf messages.
MessageRegister()
Constructor.
const LoadFailMap & load_failures() const
Get failure messages from loading.
std::shared_ptr< google::protobuf::Message > deserialize(frame_header_t &frame_header, message_header_t &message_header, void *data)
Deserialize message.
~MessageRegister()
Destructor.
void remove_message_type(uint16_t component_id, uint16_t msg_type)
Remove the given message type.
void add_message_type()
Add a new message type.
std::multimap< std::string, std::string > LoadFailMap
Mapping from message type to load error message.
std::shared_ptr< google::protobuf::Message > new_message_for(uint16_t component_id, uint16_t msg_type)
Create a new message instance.
void serialize(uint16_t component_id, uint16_t msg_type, const google::protobuf::Message &msg, frame_header_t &frame_header, message_header_t &message_header, std::string &data)
Serialize a message.
void add_message_type(uint16_t component_id, uint16_t msg_type)
Add a new message type.